systems journal of geographical systems 2 31 35

... 22 The Full S-curve 24 Results of S-curves 24 CHAPTER THE STATE OF MOTION CONTROL ACADEMIA 26 Motor Modeling, Reference Frames, and State Space 26 Control ... 82 vi Table of Figures Figure 2. 1 A typical robotic vehicle drive system Figure 2. 2a DC Brush Motor System Figure 2. 2b DC Brushless Motor System Figure 2. 3a Field-Wound ... S-curve profiles that reach the same position 25 Figure 4.1 The stationary and the rotating reference frame 28 Figure 4 .2 Three models of friction 30 Figure 4.3 Block diagram of...

Ngày tải lên: 10/08/2014, 05:20

... Table 2. 1 presents each of the popular motor types and their most important characteristics for the purpose of constructing robotic vehicles An important factor that has been left out of the ... Phase AC supply, but robotic vehicles are often all-electric and operate off DC busses or hybrid electric and convert power to a common DC bus Figure 2. 2 illustrates how DC motors are named “DC” ... the author could locate, with 23 0 million pulses per revolution, an accumulative accuracy of arc/second or less and 0.005 625 arc-second resolution Finally, the choice of controller greatly affects...

Ngày tải lên: 10/08/2014, 05:20

... Chapter The State of the Motor Control Industry Figure 3 .2 A torque-speed plotting program Compensator auto-tuning software is disappointingly less advanced than motor selection software The main ... acceleration, velocity, and position, are damped in their rate of change by the inductance of the windings and the inertia of the moving system All systems will have positive inertia, so reversing the ... position moves are always of the same length these nonlinear effects make the results of tuning a system with either the compensator of Figure 3.6a or the compensator of Figure 3.6b look identical...

Ngày tải lên: 10/08/2014, 05:20

... conditions of (3.6) into (3.3) xd = at 12 2 x f = xd + vd t + dt 2 (3.7) 21 Chapter The State of the Motor Control Industry from (3 .2) vd = at1 (3.8) substituting (3.8) into (3.7) gives x f = at 12 + ... acceleration profile to the point of maximum velocity; the deceleration half of the profiles are symmetrical One new equation that is useful here is the constant jerk analogue of (3.4): x = xo ... x f = at 12 + at1t + dt 2 (3.9) an equation with two unknowns, t1 and t2 The relationship between these can be found from (3 .2) with v f = vd + dt = vd = at1 = at1 + dt t2 = − at1 d (3.10) substituting...

Ngày tải lên: 10/08/2014, 05:20

... imperfect model of friction Three common models of friction are shown in Figure 4 .2 F F F ω ω ω Figure 4 .2 Three models of friction 4.2a (left) Static and sliding friction 4.2b (center) Friction ... cos( pθ − 2 / 3) sin( pθ − 2 / 3) 1 *  q         c  cos( pθ + 2 / 3) sin( pθ + 2 / 3) 1  o        (4.8) Where θ is the rotor mechanical angle and p is the number of pole ... current, or flux The transform is: q  cos( pθ ) cos( pθ − 2 / 3) cos( pθ + 2 / 3) a  2 d  = sin( pθ ) sin( pθ − 2 / 3) sin( pθ + 2 / 3)  * b    3    o    c  1     ...

Ngày tải lên: 10/08/2014, 05:20

... ! x2 = x4 τ + rlx4 sin x2 − mrg sin x2 cos x2 ! x3 = (I + mr − r cos x2 ) ! x4 = (I + mr )mg sin x − (rτ cos x 2 (5.1) + r lx4 sin x2 cos x2 l − r l cos x2 2 ) Where θ and φ are the angles of ... The advantage of 2- DOF PID is its ability to control transients caused by process disturbances, the problem addressed here Hiroi [29 ] [30] [31] has received three US Patents for 2- DOF controllers ... is the use of S-curves and the plotting of velocity profiles discussed in the last chapter to overcome the problem of the double integrator Another is the two degree -of- freedom (DOF) PID controller...

Ngày tải lên: 10/08/2014, 05:20

... (degrees) P endulum S peed (rpm) 40 40 20 20 0 -20 -20 -40 -40 10 15 20 D isk P osition (degrees) 10 15 20 D isk S peed (rpm) 400 20 0 20 0 100 0 -20 0 -100 -400 -20 0 10 15 20 10 15 Figure 5.7 The pendulum ... centroid of this shape, x , is used as the output value of the system The range of possible outputs is scaled so that centroid of the purely small shape results in 100% PID control and the centroid of ... response by any of the usual measures, it both converges quicker and has less overshoot than either of the other methods 52 Chapter Soft Computing Figure 5.8 shows a large disturbance of 45° Here...

Ngày tải lên: 10/08/2014, 05:20

... Volts 10 5 20 0 ms total time 477 449 421 393 365 337 309 28 1 25 3 22 5 197 169 141 85 113 477 449 421 393 365 337 309 28 1 25 3 22 5 197 169 141 85 113 57 29 -5 57 0 -5 10 29 Volts 20 20 0 ms total ... ADMC 331 [38] as a potential alternative The price of each chip is shown in Table 6.1 Table 6.1 Motion Control Chips and Prices Chip Price (distributors as of April 2, 20 00) National LM 628 $20 .00 ... consideration in the design of vehicle power systems is the need for separate power busses for motor drive and control Isolated systems of some type are required to keep motor noise out of control electronics...

Ngày tải lên: 10/08/2014, 05:20

... 66 Chapter Introduction to Navigation Systems aspect of designing electric vehicles was the subject of Part I The object of Part II is taking the human out of the loop and getting vehicles to drive ... library of known objects The optics of the camera and geometry of its location on the vehicle will be used to carry out a ground plane transform, a transform that determines the coordinates of a ... result of all these superpositioned masks is the potential field of Figure 10.4 The vehicle, which starts at the bottom center of the map, navigates by driving forward down the potential alley of...

Ngày tải lên: 10/08/2014, 05:20

... PESC ’ 92, pp 770-775, 19 92 [23 ] C Ünsal and P Kachroo, “Sliding Mode Measurement Feedback Control for Antilock Braking Systems, ” IEEE Trans On Control Systems Technology v no 2, pp 27 1 -28 1, 1999 ... 1994, IEEE, Piscataway, NJ, pp 393-400, 1994 [21 ] H Khalil, Nonlinear Systems, 2nd Ed., Prentice Hall, New Jersey, 1996 [22 ] J Lee et al “Design of Continuous Sliding Mode Controller for BLDD ... Motion Component Selector [v4.05], http:// 20 9 .22 0. 32. 26/cgi-bin/checkreg.pl?mcs, from http://www.galilmc.com/support/ download.html select MCS (13 March 20 00) 79 Bibliography [11] Analog Devices,...

Ngày tải lên: 10/08/2014, 05:20

... Avoidance Via Complex Variables and Conformal Mapping,” Proc of the 19 92 IEEE Intl Conf of Robotics and Automation, Nice, France, pp 20 6 -21 3, 19 92 [53] Y S Nam, B H Lee, and N K Ko, “An Analytic Approach ... based on the Hamilton-JacobiBellman Equation,” Proc of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, pp 24 24 -24 29, 1994 [59] A Yahja, A Stentz, S Singh, and B ... his Bachelor of Science in Electrical Engineering in May of 1998 James then remained at Virginia Tech and completed his Masters of Science Degree in Electrical Engineering in May of 20 00 James...

Ngày tải lên: 10/08/2014, 05:20

... ⎢ H (2) (·) ⎢ ⎢ ⎢ ⎢ H (2) (·) ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ (2) ⎢H ⎢ 2N −1 (·) ⎣ (2) H2N (·) (2) −H1 (·) (2) H2 (·) ··· (2) H0 (·) (2) −H1 (·) (2) H2 (·) (2) (2) ··· H1 (·) H2 (·) (2) (2) H2N (·) ... ··· H1 (·) H2 (·) (2) (2) H2N (·) (2) H2 (·) (2) −H1 (·) (2) H2 (·) ⎤ ⎥ ⎥ (2) −H2N −1(·) ⎥ ⎥ ··· (2) ··· H2N −1(·) (2) −H2N −1(·) 61 (2) H1 (·) ⎥ ⎥ ⎥ ⎥ ⎥(3.99) ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ H0 (·) ... (3.76) (2) (2) (2) (2) ∞ H0 (kρ b) − H0 (kρ a) −πVs k cos(kz z)J1 (kρ |ρ − ρs |) Hφ (ρ, z) = 2h ln (b/a) η m=0 (2 − δm0)kρ −πVs k = 2h ln (b/a) η ∞ m=0 H0 (kρ b) − H0 (kρ a) (2 − δm0 )kρ (2) cos(kz...

Ngày tải lên: 14/09/2015, 14:12

... pretreat v.xử lý 20 relative humidity độ ẩm tương đối 21 microclimate n.vi khí hậu 22 humidify v.làm ẩm 23 semi-conductor n.chất bán dẫn 24 store-room n kho 25 vaporize v.làm bay 26 coolant (cooling ... n kho 25 vaporize v.làm bay 26 coolant (cooling agent) n.tác nhân làm lạnh 27 freon n.frêôn 28 ammonia n a mô n í ă c 29 vacuum n.chân không 30 waste heat nhiệt thừa Verb Phrases and Collocations ... with the assistance ( aid) of với hỗ trợ pump in bơm vào draw out rút turn A into B chuyển A thành B artificial microclimate vi khí hậu nhân tạo BÀI 17-HỆ THỐNG TÀU (2) Những hệ thống tàu lại hệ...

Ngày tải lên: 20/10/2013, 03:15

... on 1983 26 15) Supreme Court Decision 20 02Hu2037 delivered on 20 04 27 ; Supreme Court Decision 99Hu710 delivered on 20 01 10 30 16) Supreme Court Decision 20 02Hu2037 delivered on 20 04 27 17) Article ... (last visited Sep 15, 20 07) 23 ) Id 187 Journal of Korean Law, Vol 6, No 2, 20 07 prosecutor The new Section of Article 3 12 of the KCPA continues to provide that one way of proving substantial ... Supreme Court); Decision of Jun 23 , 19 92, 92 Do 769 (Korean Supreme Court); Decision of May 12, 1995, 95 Do 484 (Korean Supreme Court); Decision of Jul 28 , 20 00, 20 00 Do 26 17 (Korean Supreme Court)...

Ngày tải lên: 06/03/2014, 23:20

... Court, Decisions of March 24 , 20 06 and June 29 , 20 06, Case Nos 20 06-Kahap-393 and 20 05-Gahap- 826 2, respectively 36) KCC, Article 418, Paragraph 37) KCC, Article 418, Paragraph No 2: 20 09 The Case ... KYONGJE, March 13, 20 04, at 13 55) Seoul Central District Court, Decision of December 23 , 20 03, Case No 20 03-Kahap-4154 24 6 | Journal of Korean Law Vol 8: 22 7 rejected in 20 04 annual meeting, ... KT, the largest 38) MAEIL KYUNGJE, December 22 , 20 08 39) KCC, Article 3 82, Paragraph 24 0 | Journal of Korean Law Vol 8: 22 7 telecommunications company of Korea has experienced difficulties in recruiting...

Ngày tải lên: 06/03/2014, 23:20

... the DRBL 29 ) Article 24 2 of the DRBL 30) Article 24 3 of the DRBL 31) Article 24 4 of the DRBL The right protection clause is equivalent to CRLm down of Chapter 11 No 2: 20 08 Efficiency of Korean ... Articles 131 and 141 of the DRBL 60) Articles 44 and 58 of the DRBL 61) Article 25 1 of the DRBL 62) Article 141 of the DRBL 63) Article 23 6 of the DRBL 64) Article 23 7 of the DRBL No 2: 20 08 Efficiency ... the DRBL No 2: 20 08 Efficiency of Korean New Rehabilitation Proceeding | 26 1 and property of the debtor, (3) liabilities of officers of the debtor, if any .24 ) Submission of List of Secured and...

Ngày tải lên: 06/03/2014, 23:20

... control in (2. 30) is applied, the STATCOM solution may converge arbitrarily to one of the above two solutions of case and case 18 15 14 28 11 19 12 13 16 10 17 20 23 26 25 27 21 22 24 29 Fig 2. 2 Single-line ... constraint enforcement equation of (2. 18), (2. 20), (2. 22) , and (2. 23) may be written as: 2. 2 Modeling of Multi-Functional STATCOM ∆G ( x ) = G ( x ) − G Spec = 37 (2. 26) where x = [ș sh , V sh , ... that other types of external limits other than (2. 22) , (2. 23) may also be included 2. 2 .2 Implementation of Multi-Control Functional Model of STATCOM in Newton Power Flow 2. 2 .2. 1 Multi-Control...

Ngày tải lên: 21/03/2014, 12:10